THE PATH PLANNING OF RTTRR SMALL-SIZED INDUSTRIAL ROBOT IN A PROCESS OF MICROPROCESSOR PACKING

Ovidiu-Aurelian DETEŞAN

Abstract


The paper presents the path planning of RTTRR small-sized industrial robot in a process of microprocessor packing, as a final stage in a modern manufacturing line. The work cycle consists in ten work phases, each phase being divided in minimum three path segments. The planning method is the (4-3-4) polynomials method, whose aim is to determine the interpolation functions of the generalized kinematic parameters (coordinates, velocities and accelerations) with respect to time. Their union will represent the path of the industrial robot, corresponding to its work cycle.

Key words: robot path planning, (4-3-4) polynomials method, kinematic parameters, MATLAB.


Full Text:

PDF

References


Deteşan, O.A., CAD Model of the RTTRR Modular Small-Sized Serial Robot, Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, vol. 60, no. 1, pp. 69-74, Cluj-Napoca, 2017, ISSN 1221-5872.

Deteşan, O.A., Workspace Determination for the RTTRR Modular Small-Sized Serial Robot, Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, vol. 60, no. 1, pp. 75-78, Cluj-Napoca, 2017, ISSN 1221-5872.

Deteşan, O.A., The Geometric and Kinematic Model of RTTRR Small-Sized Modular Robot, Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, vol. 58, no. 4, pp. 513 - 518, Cluj-Napoca, 2015, ISSN 1221-5872.

Deteşan, O.A., Vahnovanu, A.D., The Dynamic Model of RTTRR Serial Robot – Iterations Outwards and Inwards the Robot’s Mechanical Structure, Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, vol. 59, no. 1, pp. 25 - 32, Cluj-Napoca, 2016, ISSN 1221-5872

Deteşan, O.A., The Dynamic Model of RTTRR Serial Robot – The Determination of the Generalized Driving Forces, Acta Technica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, vol. 59, no. 1, pp. 33 - 38, Cluj-Napoca, 2016, ISSN 1221-5872.

Deteşan, O.A., The Implementation of RTTRR Small-Sized Robot in a Processor Packing Process, Academic Journal of Manufacturing Engineering 15(1), pp. 91-96, Cluj-Napoca, 2017, ISSN 1583-7904.

Negrean, I., Duca, A., Negrean, C., Kacso, K., Mecanică avansată în robotică (En: Advanced Mechanics in Robotics), Cluj-Napoca, UT Press, 2008, ISBN 978-973-662-420-9.

Deteşan, O.A., Cercetări privind modelarea, simularea şi construcţia miniroboţilor (En: Research Regarding Modeling, Simulation and Building of Minirobots), Ph.D. Thesis, Technical University of Cluj-Napoca, 2007.

Kacso, K., Negrean, I., Schonstein, C., The Modeling of Working Process of the Serial Structure Fanuc, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, vol. 55, no. 3, pp. 725-732, Cluj-Napoca, 2012, ISSN 1221-5872.

Negrean, I., Mura-Cozma, S.M., Negrean, D.C., Kacso, K., Formulations on Polynomial Functions in Robotics, Academic Journal of Manufacturing Engineering 7(3), pp. 66-71, Cluj-Napoca, 2009, ISSN 1583-7904.

Deteşan, O.A., The Path Planning of Industrial Robots Using Polynomial Interpolation, with Applications to Fanuc LR-Mate 100iB, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, nr. 56, vol. IV, pp. 665-670, Cluj-Napoca, 2013, ISSN 1221-5872.

FANUC Robot Series, R-J3iB Mate Controller, LR Handling Tool, Operator's Manual, B81524EN/02, 2006.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :